Adjustable row unit and agricultural vehicle with adjustable row unit

ABSTRACT

In accordance with one embodiment, a row unit for an agricultural vehicle comprises an upper carriage that is movable or slidable with respect to a generally horizontal beam of the vehicle. The row unit has vertical supports, where each vertical support has an upper end connected to the upper carriage and a lower end opposite the upper end. The row unit further comprises a lower carriage that is connected to the lower end of the vertical supports, such that the upper carriage determines a lateral position of the lower carriage with respect to the beam.

RELATED APPLICATIONS

This document (including the drawings) claims priority and the benefitof the filing date based on U.S. provisional application No. 62/465,060,filed Feb. 28, 2017, and on U.S. provisional application No. 62/544,310,filed Aug. 11, 2017, under 35 U.S.C. § 119 (e), where the aboveprovisional applications are hereby incorporated by reference herein.

FIELD OF DISCLOSURE

This disclosure relates to an adjustable row unit for an agriculturalvehicle.

BACKGROUND

Some prior art sprayers use sectional nozzle control or individualnozzle control to spray or treat crop with crop inputs, such aspesticide, fungicide, fertilizer, herbicide, chemicals or othertreatments. However, the prior art sprayers may be unable to targetaccurately plants with appropriate levels of crop inputs if the plantsdeviate from linear rows or even row spacing because of plant growth orinaccurate planting of seed. For example, deviation of plants from idealrow spacing can be associated with human error in manual driving ofplanters or machine error in automated guidance systems, such asposition drift in satellite navigation receivers without real-timekinematic reference base stations or without real-time precisecorrection signals. Sometimes, actual crop yields are reduced frompotential crop yields because of the sprayer's inaccuracies in theapplication of crop inputs or problematic adherence to prescriptions(e.g., zone-based prescriptions of corresponding the rate of amount ofcrop inputs) from experienced farmers, agronomists or horticulturalexperts. Further, the grower or operator of the sprayer may tend tocompensate for inaccuracies in treating plants by over-application ofcrop inputs or chemicals that can reduce profit margins for growers orresult in unnecessary environmental impact. Thus, there is a need for asprayer with adjustable row units to provide appropriate or targetedlevel of crop inputs to plants, even if the plants rows deviate fromideal row spacing.

SUMMARY

In accordance with one embodiment, a row unit for an agriculturalvehicle comprises an upper carriage that is movable or slidable withrespect to a generally horizontal beam of the vehicle. The row unit hasvertical supports, where each vertical support has an upper endconnected to the upper carriage and a lower end opposite the upper end.The row unit further comprises a lower carriage that is connected to thelower end of the vertical supports, such that the upper carriagedetermines a lateral position of the lower carriage with respect to thebeam.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of one embodiment of the sprayer vehicle oragricultural vehicle.

FIG. 2 is front elevation view of the sprayer in accordance with FIG. 1.

FIG. 3 is an enlarged perspective view of a rectangular region of anupper carriage of a row unit in FIG. 1.

FIG. 4 is an enlarged perspective view a lower carriage of a row unitconsistent with FIG. 1.

FIG. 5 is an exploded perspective view of a lower side of the lowercarriage consistent with FIG. 4.

FIG. 6 is a block diagram of one embodiment of the electrical orelectronic system for the sprayer that uses wireless communications.

FIG. 7 is a block diagram of another embodiment of the electrical orelectronic system for the sprayer.

FIG. 8A is a plan view of an embodiment of the sprayer vehicle with aheading or yaw angle that is aligned with plant rows in a field.

FIG. 8B is a plan view of an embodiment of the sprayer vehicle with aheading or yaw angle that is misaligned with plant rows in a field.

FIG. 9 is a front elevation view of the sprayer vehicle on atransversely sloped ground with a depression beneath one row unit.

FIG. 10 is front elevation view of the sprayer vehicle with targetseparation distances illustrated between the nozzle and ground andbetween the nozzle and plant rows.

FIG. 11 is a plan view of a sprayer vehicle in an illustrative fieldfollowing a path plan to treat or spray an area of a field.

Like reference numbers in any set of drawings indicates like elements orfeatures.

DETAILED DESCRIPTION

In accordance with one embodiment, FIG. 1 illustrates an agriculturalmachine or sprayer vehicle 11 that comprises a left frame (26, 60, 64,60, collectively) and a right frame (27, 58, 62, collectively) that areconnected by a beam 10. At least one left wheel 42 is rotatable withrespect to the left frame and at least one right wheel 44 is rotatablewith respect to the right frame. A first leg 26 extends upward from theleft frame and a second leg 27 extends upward from the right frame toconnect to the beam 10. As illustrated, the first leg 26 has an uppermember 28 that is connected (e.g., coaxially or telescopically) with alower member 30; the second leg 27 has an upper member 28 that isconnected (e.g., coaxially or telescopically) with a lower member 30,although the first leg 26 and the second leg 28 may comprise continuousmembers in other embodiments. One or more location-determining receivers(22, 24), such as satellite navigation receivers, are associated withbeam 10 to determine a position and an attitude (e.g., angularorientation) of the beam 10. As illustrated in the drawings and setforth in this document, the Y axis 80 is coextensive with the lateraldirection of the beam 10, and the X axis 78 is substantiallyperpendicular to the beam 10. The X axis 78 runs in the longitudinaldirection, which can be aligned with the direction of forward travel ofthe sprayer vehicle 11. The Z axis 82 runs in the vertical direction.

In accordance with another aspect of the disclosure, one or more rowunits (63, 65) are suspended from the beam 10, such that the position(e.g., three dimensional position) of nozzle 76 or nozzles on each rowunit can be adjusted simultaneously and dynamically in multipledimensions to maintain a target (e.g., uniform) spacing between thenozzle 76 ground 150, or between the nozzle 76 and a guidance path orpath plan of the sprayer vehicle 11, or between the nozzle 76 and aplant or row of plants 148 (e.g., as the sprayer moves in the field inreal time).

Each row unit (63 or 65) has a corresponding nozzle 76 or a set ofnozzles 76 with an adjustable position in one or more dimensions withrespect to the beam 10, along with adjustable or fixed roll, tilt andyaw angles of the nozzle 76 or set of nozzles 76. For example, for eachrow unit (63 or 65), the nozzle 76 can be adjusted in three-dimensions,such as height (Z axis 82), lateral (Y axis 80), and longitudinal (Xaxis 78) with respect to specific plants 148, stems, stalks, trunks,vines, roots, foliage, leaves, leaf canopies, plant rows, or targetzones based on image data or other sensor data, while the sprayer isguided along a path plan in accordance with one or morelocation-determining receivers (22, 24), such as satellite navigationreceivers equipped with wireless communication devices to receivecorrection data.

Location-Determining Receivers

In one configuration, each location-determining receiver (22 or 24) maycomprise any satellite navigation receiver, such as a Global PositioningSystem (GPS) receiver, a Global Navigation Satellite System (GLONASS)receiver, or another satellite navigation receiver, where eachlocation-determining receiver (22, 24) may use differential phasecorrection or other correction signals associated with one or morereference satellite receivers in known geographic locations.

In one embodiment, sprayer may use only one location-determiningreceiver (22 or 24), such as a first satellite navigation receiver(e.g., multi-channel satellite navigation receiver), with two switchedantennas 901 or time-multiplexed antennas that are spatially separatedalong the beam 10 by a known baseline distance, such as a first antennaat or near a first end of the beam 10 and a second antenna at or near asecond end of the beam 10. For example, the first end and the second endof the beam can be at or near opposite ends of the beam.

The first location-determining receiver 22 can determine: (1) a firstposition of a first antenna based on first carrier phase measurements offour or more satellite signals at a first time when the antenna switchis in a first state with an active first antenna and disconnected secondantenna, (2) a second position of a second antenna 901 based on secondphase measurements four or more satellite signals at a second time whenthe antenna switch is in a second state with an active second antennaand disconnected from the first antenna, wherein the first time andsecond time are within a maximum time interval, and (3) a vectordifference between the first position and the second position toestimate a reference point position and an attitude of the beam 10.

In another embodiment, the sprayer may use both the firstlocation-determining receiver 22 and the second location-determiningreceiver 24 such as a first satellite navigation receiver and a secondsatellite navigation receiver that are separated along the beam 10 by aknown baseline difference. The first location-determining receiver 22 islocated on a first end of the beam 10, wherein the secondlocation-determining receiver 24 determines a first position (e.g.,three-dimensional coordinates of the receiver's antenna). The secondlocation-determining receiver 24 is on a second end of the beam 10opposite the first end. The second location-determining receiver 24determines a second position simultaneously with the determination ofthe second position (e.g. three-dimensional coordinates of thereceiver's antenna).

An electronic data processor (903 in FIG. 7) or a location-determiningreceiver (22, 24) is adapted to estimate the reference point associatedwith the beam 10 of the machine and an angular orientation or attitudeof the beam 10 relative to the reference point. For example, a dataprocessor 903 estimates a reference point on or projected directly belowthe machine on the ground 150 and an angular orientation or attitude ofthe beam 10 relative to the reference point. In some configurations, theangular orientation is determined by a vector difference between thefirst position and the second position observed during a time intervalor the same time period. The attitude refers to the tilt angle, the rollangle or yaw angle of the beam 10, sprayer 11 or agricultural machine.

Path Planning and Vehicle Guidance

As illustrated in FIG. 1, the sprayer vehicle 11 has two left wheels 42and two right wheels 44. The propulsion system of the sprayer vehicle oragricultural vehicle supports steering of the sprayer vehicle 11 inaccordance with one or more of the following: (1) the position data andassociated attitude of the beam 10 or vehicle 11 from one or morelocation-determining receivers (22, 24) or the electronic data processor903, (2) the image data from the imaging device 124 on the location ofthe beam 10 or sprayer vehicle 11 with respect to plant rows, guidanceline, a center of a row, or plants 148, and (3) path plan, guidanceline, mission plan, or any of the combination thereof, established by amaster data processing system 902, or its path planning module 910, orits mission planning module 909, respectively. The mission planningmodule 909 may allow a grower to program or direct the sprayer vehicle11 to spray, treat or fertilize crops or plants 148 in a field inaccordance with a guidance plan or path plan. The path planning module910 can use a survey, field boundaries and keep-out zones, or prior mapsto generate a path plan for the sprayer vehicle 11 to cover an entirearea of a field with spray with minimal overlap of crop inputs.

In one embodiment, the left wheel 42(s) and the right wheel 44(s) have adifferential rate of rotation with respect to each other to adjust theyaw of the sprayer vehicle 11, or turn or steer the sprayer vehicle 11to the left or to the right, in accordance with a path plan, ordeviation from a path plan to avoid obstacles, hazards, people oranimals.

In one configuration, a first drive motor 48 is associated with the leftwheel 42 and a second drive motor 50 is associated with the right wheel44. For example, the first drive motor 48 and the second drive motor 50may drive the left wheel 42 and the right wheel 44 respectively, by achain 46, belt or other mechanism.

In an alternate embodiment, the first drive motor 48 and the seconddrive motor 50 may be integral to the respective hubs of the wheels.

The first drive motor 48 and the second drive motor 50 may representalternating current motors, permanent magnet motors, induction motors,switched reluctance motors, direct current motors, electric motors, orother electrical machines. In one illustrative example, the first motorcontroller 52 provides a first alternating current signal to control thetorque, direction or speed of rotation of the first drive motor 48; asecond motor controller 54 provides a second alternating current signalto control the rotation of the second drive motor 50.

Referring to FIG. 6 and FIG. 7, the slave node controller 801, a drivenode system 130 or data processor can provide command data messages tothe first motor controller 52 and the second motor controller 54 forstraight path segments, such as AB guidance lines or parallel pathsthereto, or curved path segments, such as contour path segments orparallel paths thereto. The slave node controller 801, drive node system130 or data processor 903 can apply various techniques separately orcumulatively to steer or direct the sprayer vehicle 11 or agriculturalmachine. Under a first technique, the slave node controller 801, drivenode system 130 or data processor can effectuate a substantiallyidentical rate of rotation between the first drive motor 48 and thesecond drive motor 50 to maintain a straight linear path of the sprayer11 or agricultural machine in accordance with a path plan such that thebeam 10 forms a substantially right angle of the angular orientationwith respect to one or more plant rows of a field.

Under a second technique, slave node controller 801, a drive node system130 or a data processor 903 provides command data messages to the firstmotor controller 52 and the second motor controller 54 to effectuate asubstantially differential rate of rotation between the first drivemotor 48 and the second drive motor 50 to maintain a curved path segmentof the sprayer vehicle 11 or agricultural machine in accordance with apath plan such that the beam 10 forms a substantially right angle of theangular orientation with respect to an intercept of the beam 10 with thecurved path segment.

In one embodiment, a battery module 98 is associated with the leftframe, the right frame or both for providing electrical energy to thefirst motor controller 52 and to the second motor controller 54. Inturn, the first motor controller 52 and the second motor controller 54provide control signals, such as pulse-width modulated signals or otheralternating current signals, to control the torque, speed, or directionof the rotor of the first drive motor 48 and the second drive motor 50to propel and steer the vehicle 11 along a path plan, guidance line orguidance path. As illustrated in FIG. 1, each first motor controller 52may control one or more first drive motors 48 and each second motorcontroller 54 may control one or more second drive motors 50.

In one illustrative embodiment, the battery module 98 can be rechargedat recharging station or at a suitable source of alternating currentvoltage or direct current voltage.

In an alternate embodiment, the sprayer vehicle 11 or agriculturalvehicle includes a generator 99 for providing electrical energy to thebattery module 98. For example, the generator 99 may comprise thecombination of an alternator that outputs alternating current and arectifier that converts the alternating current to direct current. Aninternal combustion engine 101 provides rotational energy to thegenerator 99. A generator 99 rotor shaft can be driven by the crankshaftof output of an internal combination engine 101.

Row Unit

In one embodiment, shown in FIG. 2, the sprayer comprises a group of rowunits (63, 65) that are suspended from the beam 10, where each row unitcan service one or more plant rows from a set of one or more nozzles 76.In one example, a first row unit 63 that is suspended from the beam 10with at set of first nozzles 76 and second row unit 65 is suspended fromthe beam 10 with a set of second nozzles 76. The first row unit 63 andthe second row unit 65 are spaced apart from each other. A dataprocessor 903, implement node system 132, or slave node controller 801,alone or together, can independently adjust a first three-dimensionalposition of the first row unit 63 from a second three-dimensionalposition of the second row unit 65, provided the row units areadequately separated to protect against collision with each other. Inone embodiment, the data processor 903 or master data processing system902 has master control or supervisory control of the data processingwithin the implement node system 132 or its slave node controller 801,where the master data processing system 902 can assign tasks, functions,calculations or execution to the implement node system 132 in accordancewith parallel processing or sequential processing software instructions,such as sharing data for processing in addressable memory of the datastorage device 906.

Each row unit (63, 65) and its associated nozzles (76, 176) have adistinct and independent three-dimensional position or row unitcoordinates that can be observed and controlled separated by the dataprocessing system 902 and the associated controllers (e.g., slave nodecontrollers 801, upper motor controller 17, first adjustment controller72, second adjustment controller 74) under its supervisory control. Thelocation determining receivers (22, 24) can provide global position andattitude of the sprayer vehicle 11 (e.g., or its beam 10), while eachrow unit (63, 65) simultaneously provides estimated height (e.g., Z-axisposition), longitudinal (e.g., X-axis position), and lateral position(e.g., Y-axis position), which may be referred to as row unitcoordinates, for the lower carriage 66, the first position adjuster 68or its associated nozzles (76, 176). For example, the upper motor 16 maybe associated with an encoder for estimating a rotor position of theupper motor 16, alone or in combination with the upper motor controller17 to derive the row unit coordinates; the first adjustment actuator 118may be associated with an encoder for estimating a first actuatorposition to derive the row unit coordinates; the second adjustmentactuator 120 may be associate with an encoder for estimating a secondactuator position to derive the row unit coordinates. In one embodiment,during one or more time intervals, the data processing system 902determines, by vector addition, linear algebra or otherwise, the globalor real world coordinates of the row unit, its lower carriage 66, or itsnozzles (76, 176) based on observed position and attitude of the sprayervehicle 11, along with the observed row unit coordinates of a row units.For example, in the data processing system 902 the respective Y-positionof each row unit (or its upper carriage 18) along the beam 10 interceptsa corresponding vector representative of vehicle orientation based onthe associated vehicular position and vehicular attitude to establish anestimate real-world Y-position of the nozzle (76, 176) on the particularrow unit, which can be corrected for any material lateral slope of theground given the height of the antenna of the location-determiningreceiver (22, 24) above ground.

However, in alternate embodiments, the upper motor controller 17 may beadapted to estimate the rotor position of the upper motor 16 without anyencoder; the first adjustment controller 72 may be adapted to estimatethe first actuator position of the first adjustment actuator 118; thesecond adjustment controller 74 may be adapted to estimate the secondactuator position, where the implement node system or the master dataprocessing system 902 can estimate the row unit coordinates associatedwith the nozzles (76, 176) of one or more row units (63, 65).

Imaging Device

In one embodiment, an imaging device 124 is mounted on the beam 10 orone of the legs (26, 27) to collect image data to determine a firstlateral distance between the first row unit 63 (or its first nozzle 76)and a first row of plants 148 and a second lateral distance between thesecond row unit 65 (or its second nozzle 76) and a second row of plants148. The imaging device 124 may have a primary field of view thatincludes one or more row units (63, 65) and respective rows of crops;further the imaging device 124 may have a primary or secondary field ofview that extends forward in the direct of travel of the sprayer vehicle11. The row spacing of the plants in the particular field may be knownfrom as-planted data, a seed planting map, row spacing of the planter orplanting implement that was used to plant a field, or a zone or portionof field. A planter or its computer system may provide the source forsuch as-planted data or a seed planting map in a suitable format foruploading or inputting to the master data processing system via a dataport or a user interface, such as keyboard, a pointing device anddisplay. In some circumstances, the row unit (63, 65) or lower carriage66 is generally laterally centered between two adjacent rows of plants148 such that nozzles 76 can be simultaneously directed outward to treatthe two adjacent rows of plants 148 at once during a single pass of thevehicle 11. In other circumstances, the row unit (63, 65) or a or lowercarriage 66 is positioned at a target lateral distance such as: (a) thefirst lateral distance between the lower carriage 66 and the plants 148of a row, (2) a first lateral distance (e.g., a lateral offset) or nolateral distance between a center point or guidance line between twoadjacent plant rows, or (3) the first lateral distance between one ormore nozzles 76 of the lower carriage 66 unit and the plants 148 of theplant row. The lateral difference setting of the nozzle 76 may dependupon the height of the nozzle 76 in some configurations, and could bestored as a data structure (e.g., a look-up table) of height settingsand corresponding lateral settings or lateral offsets in the datastorage device 906 for execution by the drive node system 130, theimplement node system 132, and the master node system 134.

In one configuration, an imaging device 124 is mounted on the beam 10 orone of the legs 86 to collect image data to estimate on or more of thefollowing: (1) a first ground 150 clearance between the first row unit63 and the ground 150 and a second ground 150 clearance between thesecond row unit and the ground 150; and (2) a first height of a firstnozzle 76 of the first row unit 63 and a second height of a secondnozzle 76 of a second row unit.

In another configuration, an imaging device 124 is mounted on the beam10 or one of the legs (26, 27) for determining a first longitudinaloffset between a first nozzle 76 of the first row unit 63 and arespective plant center (e.g., foliage center of mass or volume withrespect to plant pixels or voxels) or plant stem, and a secondlongitudinal offset between a second nozzle 76 of the second row unitand a respective plant center or plant stem.

In one embodiment, the sprayer vehicle 11 or agricultural machineincludes a first tank 36 supported on or by the left frame or firstshelf system 60 of one or more shelves or stacked shelves. Asillustrated, the first leg 26 terminates at a first horizontal support56 that provides support for mounting the axel or hub of one or moreleft wheels 42, or that provides support for the first shelf system 60.One or more supports 64 may provide bracing and structural rigiditybetween the first leg 26 and the first horizontal support 56, for theshelf systems (60, 62) or otherwise. The first tank 36 facilitatesstoring a fluid or crop input for distribution onto a field, plants 148,or soil. A first pump 32 is arranged for pumping a fluid stored in thefirst tank 36 to a set of first nozzles 76 via tubing 136 for targeteddistribution to a zone of a field, a particular row in a field or toparticular plants 148 or portions of plants 148 in the field because thethree-dimensional position of a nozzle 76 or set of nozzles 76associated with each row unit can be controlled. Although the nozzle 76is pointed downward in FIG. 1 for the first row unit 63 or leftmost rowunit, it is understood that the nozzle or an optional set of nozzles 176(shown in FIG. 2 in dashed lines) may face outward or in any otherorientation, or roll, tilt and yaw angles that are suitable fordirecting the crop input or fluid to its intended target, such as aplant, a row of plants, the foliage of plants, the base, stem, vine,trunk or stalk of the plants, or the roots of plants.

A second tank 38 is supported on or by the right frame or second shelfsystem 62 of one or more shelves or stacked shelves. As illustrated, thesecond leg 27 terminates at a second horizontal support 58 that providessupport for mounting the axel or hub of one or more right wheels 44, orthat provides support for the second shelf system 62. The second tank 38facilitates storing a fluid or crop input for distribution onto a field,plants 148, or soil. A second pump 34 is arranged for pumping a fluidstored in the second tank 38 to a set of second nozzles 76 via tubing136 for targeted distribution to a zone of a field, a particular row ina field or to particular plants 148 or portions of plants 148 in thefield because the three-dimensional position of a nozzle 76 or set ofnozzles 76 associated with each row unit (63, 65) can be controlled.Although the nozzle 76 is pointed downward in FIG. 1 for the second rowunit 65 or rightmost row unit, it is understood that the nozzle or anoptional set of nozzles 176 (shown in FIG. 2 in dashed lines) may faceoutward or in any other orientation, or roll, tilt and yaw angles thatare suitable for directing the crop input or fluid to its intendedtarget, such as a plant, a row of plants, the foliage of plants, thebase, stem, vine, trunk or stalk of the plants, or the roots of plants.

In one embodiment, one or more auxiliary tanks 40 can service additionalcorresponding row units 40 or can provide extra capacity for the firstrow unit 63 and second row unit 65.

Row Unit

In FIG. 1 and FIG. 2, each row unit (63, 65) has an upper carriage 18and a lower carriage 66 that is coupled to or ganged with the lowercarriage 66. An upper carriage 18 is movable or slidable with respect toa generally horizontal beam 10 of a sprayer vehicle 11. A plurality ofvertical supports 13 suspends the lower carriage 66 from the uppercarriage 18, or supports 64 the lower carriage 66. Each vertical support13 has an upper end connected to the upper carriage 18 and a lower endopposite the upper end. A lower carriage 66 is connected to the lowerend of the vertical supports 13, such that the upper carriage 18determines a lateral position of the lower carriage 66 with respect tothe beam 10.

In any embodiments, multiple row units (63, 65) may be used thatcomprise multiple upper carriages 18 and respective lower carriages 66.Mutually exclusive lateral zones of the carriages can be separated by aprotection zone where multiple upper carriages 18 and lower carriages 66are associated with the sprayer vehicle 11 to avoid interference betweenany two adjacent lower carriages 66 or upper carriages 18.

Upper Carriage

As best illustrated in FIG. 3, the upper carriage 18 has a frame 14,where at least at least two rollers 21 are rotatable about a rotationalaxis with respect to the frame 14. The rollers 21 face one or more ofthe following beam 10 surfaces: a top surface of the beam 10, a frontside of the beam 10, and a rear side of the beam 10. The front side ofthe beam 10 is opposite the rear side of the beam 10. In oneconfiguration if side rollers 21 are used, the front-side roller and therear-side roller can be clamped or compressed against the beam 10 toprevent movement along the X axis 78 and to support movement of theupper carriage 18 along the Y axis 80. In one embodiment, the rollers 21are biased by springs or other biasing members against the beam 10.

In one embodiment, at least one surface of the beam 10 has a rack gear20 or rack teeth. For example, as illustrated in FIG. 1, the rack gear20 is on an interior horizontal bottom surface, although the rack gear20 could be formed or mounted on other surfaces of the beam 10. A pinongear (not shown) or other gear of an upper motor 16 engages the rackgear 20. An upper motor 16 drives the pinon gear to move (or tolaterally slide) the upper carriage 18 in a lateral direction along thebeam 10, or generally along the Y axis 80. An upper motor controller 17provides control signals to the upper motor 16 to move the uppercarriage 18 along the beam 10 in response to data messages or commandsfrom a central data processor 903, a slave node controller 801, orotherwise.

As illustrated, the upper carriage 18 has brackets 12 for securing aplurality of generally vertical supports 13 in a fixed verticalposition. In one configuration, the brackets 12 may comprise clamps,such as U-clamps, whereas in other configurations the brackets 12 mayuse bolts or screws to compress a sleeve or retainer (not shown) arounda portion of the vertical supports 13.

In an alternate embodiment, a set of openings 15 in the frame 14, orpylons 19 thereof, may complement or replace the bracket 12.

The vertical supports 13 may comprise tubes, rods, beams, telescopictubes or other support members. Although four vertical supports 13 areillustrated in FIG. 1, in alternate embodiments other numbers ofvertical supports 13 may be used, such as three vertical supports or asfew as one support with a cross section sufficient to provide stability(e.g., in three dimensions).

In an alternate embodiment, the vertical supports 13 comprise movable oradjustable threaded rods or supports with rack gear teeth that supportvertical adjustment of the lower carriage 66 member with respect to theupper carriage 18 member or the beam 10; where such vertical adjustmentcould be used alone, or cumulatively with the first position adjuster68. In one alternate embodiment, a linear actuator is positioned on theupper carriage 18 to support movement of each threaded rod or alternatevertical support to raise or lower the lower carriage 66 or implementcarriage.

In another alternate embodiment, a vertical adjustment motor with acorresponding pinion gear engages each vertical support with acorresponding rack gear to raise or lower the lower carriage 66 orimplement carriage. For example, one vertical linear actuator orvertical motor is used per alternate vertical support to move thesupport; hence, raise and lower carriage 66 in unison. The verticallinear actuator or vertical motor can be used to adjust the verticalheight of a plurality of row units to conform to a target height abovethe ground 150, where the vertical distance between the upper carriage18 and the lower carriage 66 may differ for each pair of upper carriage18 and lower carriage 66 as the vehicle travels through a field withuneven, tilted or laterally sloped ground.

As previously indicated, the upper carriage 18 comprises a frame 14 anda set of rollers 21 that are rotatable with respect to the frame 14 andthat ride against a surface of the beam 10. An upper motor 16 is mountedto the frame 14 and the upper motor 16 has a shaft that terminates in apinion gear. A rack gear 20 is attached to or formed on the beam 10,where the pinon gear engages to the rack gear 20 to support simultaneouslateral adjustment of the upper carriage 18 and the lower carriage 66.The upper motor controller 17 provides a control signal to control theupper motor 16 to position a nozzle 76 or set of nozzles 76 on the lowercarriage 66 in accordance with a target lateral separation to a row ofplants 148, a path plan or a guidance line, where the control signalresponsive to an image data from an imaging device 124 or sensor datafrom another sensor, such as an laser scanning device, a laser rangefinder, an ultrasonic position sensor, a light detection and ranging(LIDAR) device or otherwise.

The lower carriage 66 supports movement of a three-dimensional position(e.g., targeted x, y and z position coordinates) of a nozzle 76 on thelower carriage 66 by a first position adjuster 68 for adjusting height(z-axis position) of the nozzle 76 and a second position adjuster 70 foradjusting a longitudinal position (x-axis position) of the nozzle 76based on one or more of the following: (1) image data of the imagingdevice 124, (2) processed stereo image data derived (e.g., threedimensional representations of pixels or voxels of plant or plant rows)from the image data by the image processing module 911, (3) heading oryaw data of the sprayer vehicle 11 from the location-determiningreceiver (22, 24), and (4) ground speed, velocity and/or acceleration ofthe sprayer vehicle 11. In one example, the height can be adjusted tomaintain a minimum height clearance with respect to the ground 150 andto maintain a relative height to a peak plant height, central foliageheight, or peak leaf canopy height based on image data. In anotherexample, the lower carriage 66 supports movement of a three-dimensionalposition of a nozzle 76 on the lower carriage 66 by the second positionadjuster 70 for adjusting a longitudinal position of the nozzle 76 toreduce or minimize a longitudinal offset between the nozzle 76 and plantstem or central plant portion. For example, the adjustment of thelongitudinal position of the nozzle or nozzles (76, 176) of a row unitmay consider the ground speed, velocity and acceleration and yaw angleof the sprayer vehicle 11 from one or more location-determiningreceivers (22, 24) to determine or estimate a longitudinal adjustment ofthe second position adjuster 70 for alignment or registration with atarget zone of the field or a target zone of plants. The adjustments ofthree-dimensional position can be made and updated for each timeinterval.

First Position Adjuster of Lower Carriage

FIG. 4 illustrates a perspective view of the lower carriage 66. In oneembodiment, the lower carriage 66 comprises a first position adjuster 68for adjusting height of a nozzle 76 associated with the row unit (63,65). For example, the first position adjuster 68 comprises a lowerplatform 90 and an upper platform 88 spaced apart from the upperplatform 88. A group of legs 86 with pivot points (92, 122) is arrangedto movably connect the lower platform 90 to the upper platform 88. Thepivot points (92, 122) may comprise rivets, shafts, or bolts and nuts,swaged members, the like. A first support member 94 is associated withcentral pivot points 92 of the legs 86. A second support member 96 isassociated with central pivot points 92 of the legs 86. The secondsupport member 96 is located opposite from the first support member 94.A threaded rod 116 engages a threaded bore 117 in the first supportmember 94 and the threaded rod 116 extends toward the second supportmember 96 or first adjustment actuator 118 that is attached to thesecond support member 96. A first adjustment actuator 118 is arrangedfor turning the threaded rod 116 to change the height of the lowerplatform 90 with respect to the upper platform 88; hence, adjustprecisely the height of a nozzle 76 located on the lower platform 90.

In one configuration, one end of each of the legs 86 terminates in gearteeth 140 and further comprises idler gears 138 mounted on sides of theupper platform 88 and lower platform 90 for engaging the gear teeth 140.The gear teeth 140 and idler gears 138 prevent twisting of the legs 86or misalignment between the lower platform 90 and the upper platform 88in which planar surfaces associated with the lower platform 90 and theupper platform 88 are no longer or not substantially parallel. The gearteeth 140 or idler 140 gears provide some constraint of motion betweenupper platform 88 and the lower platform 90 to remain substantiallyparallel or properly aligned through any height adjustment. In sum, thefirst position adjuster 68 comprises a first scissors linkage 84 thatholds a precise target vertical separation between the upper platform 88and the lower platform 90 and the vertical separation is adjustableprecisely and quickly in real time by operation of the first adjustmentactuator 118 that turns dynamically a threaded rod 116 or screw, even asthe sprayer vehicle 11 traverses a path plan in the field.

A first adjustment controller 72 provides a control signal to thecorresponding first adjustment actuator 118. The first adjustmentcontroller 72 may be located on the first position adjuster 68 or theupper platform 88, for instance. However, in other configurations thefirst adjustment controller 72 may be integral with or housed within acommon housing of the first position adjuster 68.

The first adjustment controller 72 can instruct the first adjustmentactuator 118 to move the first scissors linkage 84 from a contractedposition along the Z axis 82 to an expanded position along the Z axis82, or vice versa, where the difference between the fully contractedposition and the fully expanded position defines the maximum range oftravel for the first position adjuster 68. The first scissors linkage 84can maintain its adjustment or setting in the presence of considerableloads or force in the Z axis 82 direction.

If the implement carriage is used for a sprayer, a nozzle 76 or a set ofnozzles 176 may be mounted on the lower platform 90 as illustrated inFIG. 2 to support adjustment of the vertical height of the nozzle 76along the Z axis 82, whereas the lateral position is adjusted by theupper carriage 18.

Second Position Adjuster of the Lower Carriage

As best illustrated in FIG. 4 and FIG. 5, in each row unit (63, 65) thesecond position adjuster 70 comprises a frame 100 that is coupled forrelative longitudinal movement with respect to the first positionadjuster 68. A first end 102 is attached to or integral with one side ofthe frame 100. A second end 104 is attached to or integral with anopposite side of the frame 100 with respect to the first end 102.

A rod 106 or rail extends between the first end 102 and the second end104, where the rod 106 or rail may be inserted into a recess 108 orsocket in the first end 102 and the second end 104 for retaining the rod106 or rail. An upper surface of the upper platform 88 supports fourbushings 111 with openings 110 (e.g., substantially cylindrical openingsor polygonal openings 110) corresponding in size and shape to the crosssection of the rods 106 or rails. Bushings 111 are affixed to the firstposition adjuster 68 for engaging or slidably guiding the rod 106 orrail. For example, the bushings 111 may have an opening 110 thatconforms to the shape and size of the cross-section of the rod 106 orrail for slidable engagement therewith. The openings 110 may containbushings 111 or bearings and may be lubricated with oil, grease, orother lubricant.

A second scissors linkage 112 has a first coupling point (e.g., at end126) to the first position adjuster 68 and a second coupling point(e.g., at end 128) to a link member 142. A second adjustment actuator120 or linear actuator is adapted to provide a linear motion to the linkmember 142 such that the first position adjuster 68 is longitudinallydisplaced or adjusted with respect to the frame 100, or the secondposition adjuster 70.

In alternate embodiments, the second adjustment actuator 120 maycomprise a linear actuator with ends coupled between two opposite endpivot points 144 of the second scissors linkage 112, near the end 126.

In one configuration, a set of one or more nozzles 76 are located on thesecond position adjuster 70. A nozzle 76 located on the second positionadjuster 70 can be adjusted along a longitudinal axis, for instance.

An implement node system 132, a slave node controller 801, or a dataprocessor 903 controls or supervises an upper controller, a firstadjustment controller 72 and a second adjustment controller 74 for theeach row unit (63, 65), where each row unit (63, 65) can be controlledindependently within a positional range (e.g. lateral range) that avoidscollision or interference with adjacent row units. An upper motorcontroller 17 provides a lateral control signal to the upper motor 16 tocontrol a lateral position of a nozzle 76 on the lower carriage 66. Afirst adjustment controller 72 provides a height control signal to thefirst adjustment actuator 118 to control a height position of the nozzle76 on the lower carriage 66. A second adjustment controller 74 providesa longitudinal control signal to the second adjustment actuator 120 tocontrol a longitudinal position of the nozzle 76 on the lower carriage66. For instance, the upper controller, the first adjustment controller72 and the second adjustment controller 74 can simultaneously anddynamically adjust in real time a three-dimensional position of thenozzle 76 through control of the lateral position, the height positionand the longitudinal position, even as the sprayer vehicle 11 progressesthrough the field.

In one embodiment, the upper carriage 18 is laterally movable along thebeam 10 (along Y axis 80) and a lower carriage 66 suspended from theupper carriage 18 by a plurality of vertical supports 13 13, such asrods, rails, cylindrical members, beams, or other supports. A targetlateral position of the upper carriage 18 generally establishes anactual lateral position of the lower carriage 66.

In certain embodiments, the vertical supports 13 may be composed ofmetal, alloys, plastic, polymers, plastic composites, polymercomposites, fiberglass, carbon fiber or carbon fiber in a resin matrix.

In one embodiment, the data processor 903 compensates for a potentialoffset or lateral offset between the target lateral position and theactual lateral position, including misalignment or bending of thevertical supports 13 (e.g., damaged by interaction with the ground atoperational vehicle speeds). The lower carriage 66 is suspended by thesupports 64 from the upper carriage 18. In one embodiment, the uppercarriage 18 can set, adjust or establish the Y axis 80 position of thelower carriage 66 because the lower carriage 66 tracks the Y axis 80position of the upper carriage 18 with substantially no Y axis 80 offsetor one or more of the following: a fixed Y axis 80 offset or a fixedthree-dimensional offset of the z, y and z axes.

A second position adjuster 70 or second adjustment assembly can adjustthe for-and-aft position of the nozzle 76, or the longitudinal positionof the first position adjuster 68. The second position adjuster 70comprises a frame 100 with a first end 102 and second end 104. The firstend 102 and the second end 104 are attached to the frame 100 or areintegral with the frame 100. The frame 100 supports two parallel sets ofrods 106 or rails. For example, the rods 106 or rails can be attached attheir ends to the first end 102 and the second end 104, where the rods106 or rails may be inserted into a socket or retention recess 108.

In one embodiment, a second scissors linkage 112 is positioned in arecess 108 or spatial zone defined by or between the upper platform 88and the frame 100. One end 126 of the second scissors linkage 112 isconnected to the upper platform 88, whereas another end 128 of thesecond scissors linkage 112 is connected to link member 142, which ismovable by the second adjustment actuator 120. The second adjustmentcontroller 74 can instruct the second adjustment actuator 120 to movethe second scissors linkage 112 from a contracted position along the Xaxis 78 to an expanded position along the X axis 78, or vice versa,where the difference between the fully contracted position and the fullyexpanded position defines the maximum range of travel for the secondposition adjuster 70. As illustrated the second scissors linkage 112comprises a series of beams 114 that are joined together at centralpivot points 146 and outer pivot points 144, where the second scissorslinkage 112 can expand and contract in an accordion-like manner inresponse to movement by the second adjustment actuator 120. The secondscissor linkage 112 can act as a stroke multiplier to increases theamount of output displacement in the longitudinal or X axis 78 directionfor a lesser input displacement of the linear actuator or secondadjustment actuator 120 in the X direction.

In one embodiment, the second adjustment actuator 120 is attached to theframe 100 or to the second end 104. For example, the second adjustmentactuator 120 may comprises a longitudinal adjustment linear actuator orlongitudinal adjustment motor associated with a link member 142, such asa linkage, rod, shaft or threaded rod 116.

In an alternate embodiment, the second adjustment actuator 120 comprisesa linear actuator that is connected or coupled between two outer pivotpoints 144 at one terminating end of the second scissors linkage 112,whereas the other terminating end of the second scissors linkage 112 iscoupled to the platform or the second end 104.

In another alternate embodiment, a combination of a threaded rod andmotor can be coupled between the two outer pivot points 144 at aterminating end 128 of the second scissors linkage 112, whereas theother terminating end 126 of the scissors linkage 112 is coupled to theupper platform 88. Near the end 128 at one outer pivot point 144, acoupler has a shaft on one side for engagement with the outer pivotpoint 144 and threaded recess with a recess axis that is substantiallyorthogonal to the shaft axis of the shaft; the second adjustmentactuator 120 comprises the motor that rotates a threaded shaft in thethreaded recess such that the second scissor mechanism acts as a strokemultiplier.

Although other configurations are possible, in one illustrativeconfiguration the maximum range of travel for the second positionadjuster 70 is approximately 18 inches along the longitudinal axis, andthe maximum range of travel for the first position adjuster 68 isapproximately 12 inches along the vertical axis.

In an alternate embodiment, the second position adjuster 70 can berotated 90 degrees in the x-y plane with respect to the first positionadjuster 68 to adjust the first position adjuster 68 or its upperplatform 88 along the lateral or Y axis 80, instead of the X axis 78. Inthis document, the second position adjuster 70 that is rotated 90degrees in the x-y plane can be referred to at the third positionadjuster. Further, in the alternate embodiment, the upper carriage 18may be used to perform coarse adjustments to the Y axis 80 or within afirst limited range, whereas the lower carriage 66 may be used toperform fine adjustments to the Y axis 80 within second limited range,where the first limited range and the second limited range overlap orare mutually exclusive ranges along the Y axis 80.

Imaging System

In one embodiment, an imaging system comprises an imaging device 124 andan associated image processing module 911 in the data master dataprocessing system 902 or its data storage device 906. The imaging device124 may comprise a monocular or stereo imaging system for collectingimage data on the spatial alignment of the lower carriage 66 withrespect to one or more plants 148 or rows of plants 148. In oneconfiguration, the imaging system may comprises the imaging device 124(e.g., digital stereo camera) and an image processing module 911 todistinguish plant pixels from background 150 pixels in the collectedimage data, to distinguish the lower carriage 66 from plant pixels andbackground pixels, and to estimate a three-dimensional representation(e.g., three dimensional constellation of pixels or voxels) of the lowercarriage 66 with respect to the one or more plant rows.

An upper motor controller 17 can provide a control signal to control theupper motor 16 to position a nozzle 76 on the lower carriage 66 inaccordance with a target lateral separation to a row of plants 148. Thecontrol signal is responsive to the collected image data. The lowercarriage 66 supports 64 movement of a three-dimensional position of anozzle 76 on the lower carriage 66 by a first position adjuster 68 foradjusting height of the nozzle 76 and a second position adjuster 70 foradjusting a longitudinal position of the nozzle 76 based on thecollected image data. The height is adjusted to maintain a minimumheight clearance with respect to the ground 150 and to maintain arelative height to a peak plant height, an average or median foliageheight, or peak leaf canopy height based on image data. The lowercarriage 66 supports movement of a three-dimensional position of anozzle 76 on the lower carriage 66 by the second position adjuster 70for adjusting a longitudinal position of the nozzle 76 to reduce orminimize a longitudinal offset between the nozzle 76 and plant stem orcentral plant portion.

In one embodiment, the lower carriage 66 or implement carriage supportsvertical position adjustment and fore-and-aft (longitudinal) positionadjustments via a first position adjuster 68 and a second positionadjuster 70.

In an alternate embodiment, the lower carriage 66 or implement carriagesupports vertical position adjustment and lateral position adjustmentvia first position adjuster 68 and a third position adjuster.

In one embodiment, the first position adjuster 68 or first adjustmentassembly comprises a first scissors linkage 84 with four pairs of legs86, an upper platform 88 and a lower platform 90. The legs 86 or legsegments are rotatably connected to each other at central joints and theupper platform 88 and lower platform 90 at other joints. For example,upper legs 86 are rotatably connected to the upper platform 88. Lowerlegs 86 are rotatably connected to the lower platform 90. The upper andlower legs 86 are joined at central pivot points 92 or central joints.

A first pair of central joints are connected by a corresponding firstsupport member 94 and a second pair of central joints are connected by asecond support member 96. For example, a pin, shaft, or bolt extendsthrough bores of the legs 86 at the central joints and into a recess(e.g., threaded recess of) the respective first support member 94 orrespective second support member 96. As illustrated in FIG. 4 and FIG.5, the first support member 94 and the second support member 96 havebores at opposite ends of the first scissor linkage and at least one ofthe bores is arranged to receive a threaded rod, a shaft, bolt, pin orcylindrical member. The first support member 94 has a threaded bore 117for receiving a threaded rod 116 that extends between the first supportmember 94 and the second support member 96, or the first adjustmentactuator 118 attached to the threaded rod 116.

In one embodiment, the first adjustment actuator 118 comprises anelectric motor, a step motor, or a servo-motor.

In an alternate embodiment, the vertical adjustment motor is replaced bya vertical adjustment linear actuator that is mounted to the firstsupport or the second support, with a rod mounted to the opposite one ofthe first support and second support.

FIG. 6 is a block diagram of one embodiment of the electrical orelectronic system 600 for the sprayer that uses wireless communications.As illustrated, the electronic system 600 of FIG. 6 comprises a drivenode system 130, an implement node system 132 and master node system 134that can communicate with each other via any two or more of the wirelesscommunication devices.

The master node system 134 includes a master data processing system 902that is shown in greater detail in FIG. 7. The master node system 134 ormaster data processing system 902 comprises a mission planning module909, a path tracking module 917, a path planning module 910, and anavigation module 907. The mission planning module 909 plans a missionof the sprayer module to treat a field, zones of the field, particularplants 148 or particular target portions of plants 148 within the fieldor zone. For example, the mission plan may assign a three dimensionalcoordinate for or more nozzles 76 of each row unit for a correspondinglocation and attitude orientation of the sprayer vehicle in the field.The image processing system (124, 911, collectively) assists the missionplanning module 909 is adjusting the three-dimensional coordinates forone or more nozzles 76 of each field or zone in accordance with imagedata to achieve the mission plan or targeted application of crop inputsto the plants 148, zones of plants 148, or portions of plants 148 orrows in the field within a certain targeted range of height, lateral,and longitudinal orientation. The path planning module 910 provides apath plan for the sprayer vehicle to follow to execute the mission planand to track rows and to cover a targeted area of the field, given thefield boundaries, keep-out zones and other constraints along withposition data and attitude data for the sprayer vehicle as it traversesthe field or work area. The navigation module 907 facilitates switchingbetween an automated driving mode and manned mode, or obstacle avoidancebased on position data, heading data, velocity data, acceleration datafrom one or more location-determining receivers (e.g., satellitenavigation receivers) and any reliable image data from an imageprocessing device that is suitable for navigation. The path trackingmodule 917 facilitates the sprayer vehicle adhering to the path planwith minimal tracking error, such as lateral error between a target pathplan and an actual path of the vehicle.

In one configuration, a drive node system 130 comprises a control systemcontrols the first drive motor 48, the second drive motor 50, or both.Further, in an alternate embodiment, the driver node system 130 maycontrol a first drive motor 48 for rotating a first wheel, a seconddrive motor 50 for rotating a second wheel. Alternately, first drivemotors 48 can rotate multiple wheels or left wheels, whereas seconddrive motors 50 can rotate multiple right wheels or second wheels. Afirst motor controller 52 provides a control signal or control datamessage to the respective first drive motor 48. A second motorcontroller 52 provides a control signal or control data message to therespective second drive motor 50.

The slave node controller 801 or the master node system 134 processingsystem provide control signals or data messages to first motorcontroller 52 and the second motor controller 54 to control the firstdrive motor 48 and the second drive motor 50 based on position data andattitude data (associated with the beam 10 of the vehicle from thelocation-determining receiver or receivers, 22, 24) and one or more ofthe following: a mission plan of a mission planning module 909, a pathplan of path planning module 910, a path tracking instructions of a pathtracking module 917, and navigation instructions of a navigation module907.

The implement node system 132 comprises an upper motor 16 (e.g., an Xaxis 78 motor), a first adjustment actuator 118 (e.g., Y axis 80 motor),a second adjustment actuator 120 (e.g., a Z axis 82 motor) that areseparately controlled by an upper motor controller 17, a firstadjustment controller 72, and a second adjustment controller 74,respectively. The slave node controller 801 or the master dataprocessing system 902 provides control data messages to the upper motorcontroller 17, the first adjustment controller 72, and the secondadjustment controller 74 to move each row unit to a targetedthree-dimensional position of the lower carriage 66 or its one or morenozzles 76. For example, the mission plan may assign a three dimensionalcoordinate for or more nozzles 76 of each row unit for a correspondinglocation and attitude orientation of the sprayer vehicle in the field.The image processing system assists the mission planning module 909 isadjusting the three-dimensional coordinates for one or more nozzles 76of each field or zone in accordance with image data to achieve themission plan or targeted application of crop inputs to the plants 148,zones of plants 148, or portions of plants 148 or rows in the fieldwithin a certain targeted range of height, lateral, and longitudinalorientation.

FIG. 7 is a block diagram of another embodiment of the electrical orelectronic system 700 for the sprayer. Like reference numbers in FIG. 6and FIG. 7 indicate like elements or features.

In one configuration, the first location-determining receiver 22 isillustrated with an optional second antenna 901 that is spaced apartfrom its first antenna along the beam 10 of the sprayer vehicle 11. Thesecond antenna 901 is optional as indicated by the dashed lines. Thefirst antenna and the second antenna 901 may be time-divisionmultiplexed to receive multiple satellite channels at the firstlocation-determining receiver 22 such that the attitude of the beam 10can be determined by single first location-determining receiver 22,alone or in conjunction with the attitude angle estimator 908.

Alternately, the first location-determining receiver 22 and the secondlocation-determining receiver 24 are spaced apart by a fixed knownbaseline difference, or rather their antennas are spaced apart along thebeam 10, to facilitate simultaneous estimation of positions that can beused by the attitude angle estimator 908 to derive the attitude of thebeam 10.

The master data processing system 902 comprises an electronic dataprocessor 903, a data storage device 906, and data ports 904 coupled toa data bus 905, were the electronic data processor 903, the data storagedevice 906 and the data ports 904 can communicate with each other overthe data bus 905.

In one embodiment, the electronic data processor 903 comprises amicroprocessor, a microcontroller, a digital signal processor, anapplication specific integrated circuit, a programmable logic array, alogic circuit, an arithmetic logic unit, a Boolean logic circuit oranother data processing device.

The data storage device 906 may comprise electronic memory, nonvolatileelectronic random access memory, a magnetic storage device, an opticalstorage device, a magnetic disk drive, or the like.

The data storage device 906 may store software instructions or data(e.g., data structures or look-up tables) for any of the following: anavigation module 907, an attitude angle estimator 908, a missionplanning module 909, a path planning module 910, an image processingmodule 911, a plant (row) position estimator 912 and an adjustmentcontrol module 913. As used in this document, a module may refer tohardware, software, or a combination of software and hardware.

In one configuration, the plant row position estimator 912 determines orestimates the two or more coordinates that defines a generally linearcenter of the plants 148 within a row, or a constellation, cloud, orother three dimensional representation (e.g., height, depth and width orexpressed in terms of x, y and z coordinates) of pixels or voxels of theleaves, stems, canopy, or foliage of the plants 148 in one or more rows.The plant row estimator 912 may estimate two or more coordinates thatdefines a generally linear center of the plants 148 within a row, or aconstellation, cloud, or other three dimensional representation basedupon image data collected by the imaging device 124 and image processingof the master data processing system 902. Further, the plant rowestimator 912 may use pre-existing knowledge of the row spacing used bythe planter for planting the seeds or plants 148, along with anas-planted map of the seed positions or seed locations, where available.

The adjustment control module 913 provides control signals or controldata messages to the upper motor controller 17, the first adjustmentcontroller 72, and the second adjustment controller 74 via the dataports 904 and vehicle data bus 914 or a two or more wirelesscommunications devices 805 in response to image data from the imagingdevice 124, or other sensor data. Similarly, the navigation module 907,mission planning module 909 or path planning module 910 can providecontrol signals or control data messages to the first motor controller52 and the second motor controller 54 via the data ports 904 and vehicledata bus 914 or a two or more wireless communications devices 805 inresponse to position data and attitude of the beam 10 or sprayervehicle.

FIG. 8A and FIG. 8B are a plan views of an embodiment of the sprayervehicle 11. Like reference numbers indicate like elements or features inFIG. 1, FIG. 8A and FIG. 8B.

In FIG. 8A and FIG. 8B the sprayer vehicle 11 is traveling forward inleftward direction as indicated by the arrow. A beam axis 803 extendslengthwise through the beam 10 and is coextensive with the Y axis, asillustrated in FIG. 1 in combination with FIG. 8A. The plant rows 802are generally linear and substantially parallel to each other in FIG. 8Aand FIG. 8B.

In FIG. 8A the sprayer vehicle 11 has heading or yaw angle that isaligned with the plant rows 802 in the field in accordance with a pathplan. For example, as illustrated, the heading or yaw angle is alignedwith the plant rows when the observed angle 801 between a representativeplant row 802 and the beam axis 803 or the Y axis is approximatelyninety degrees or a right angle. As a component of the vehicle attitude,the heading or yaw angle can be estimated by the location-determiningreceivers (22, 24) as previously described.

FIG. 8B is a plan view of an embodiment of the sprayer vehicle 11 with aheading or yaw angle that is misaligned with plant rows 802 in a field.For example, the observed angle 807 between the plant row 802 and thebeam axis 803 or the Y axis is no longer approximately ninety degrees ora right angle. Instead, there is a heading error angle 804 that can bemodeled as the difference between ninety degrees and the actual observedangle 807 between the plant row and the beam axis 803 or the Y axis.

The location-determining receivers (22, 24) provide the attitude of thebeam 10 or sprayer vehicle 11, where the attitude includes the yaw angleor heading angle among other things. The master node system 134comprises a path tracking module 917 that facilitates tracking of a pathplan and minimizing or reduction of an heading error that mightotherwise result in inaccurate application of crop inputs because oflagging side or leading side of the sprayer vehicle 11 is misaligned bythe heading error angle 804 and an associated error offset distance withrespect to a target zone of a spraying prescription that requires aparticular corresponding dosage, concentration or rate of applied cropinput.

FIG. 9 is a front elevation view of the sprayer vehicle 11 on atransversely sloped ground with a depression 995 beneath one row unit.FIG. 9 is similar to FIG. 2 except the sprayer vehicle 11 is ontransversely sloped ground 150 that slopes downward to the right.Further, the second row unit 65 is in a depression 995. The firstposition adjuster 68 of the first row unit 63 is adjusted to a differentheight than the first position adjuster 68 of the second row unit 65.For example, the first position adjuster 68 of the second row unit 65may expanded downward toward the ground or depression 955 along the Zaxis more than the first position adjuster 68 of the first row unit 63,such that a target height 996 (e.g., uniform height) is kept between theground or depression 955 and the bottom of each row unit (63, 65) ornozzle (76, 176), or such that a uniform height is kept between thenozzles (76, 176) of the respective row units and corresponding plantsin the rows.

FIG. 9 illustrates position error of the location-determining receiver(22, 24) on a transversely sloped ground 150 that is compensated for bythe observed attitude or observed roll determined by one or more of thelocation-determining receivers (22, 24).

In alternate embodiments, the roll angle of the sprayer vehicle 10 maybe estimated by one or more accelerometers or gyroscopes.

The location determining receiver (22, 24), the path tracking module917, the navigation module 907 or the data processor 903 can determine aposition difference between the Z-axis (which is relative to the sprayervehicle 10) and a normal axis that is perpendicular to the ground 150 orsurface of the Earth. The position difference can be used to generate acorrection such that the sprayer vehicle 10 is properly aligned with theplant rows 148 in accordance with a path plan.

FIG. 10 is similar to FIG. 2 except the one or more spatial dimensionsof the nozzle are observed with reference to plant rows and the ground.Like reference numbers in FIG. 10 and FIG. 2 indicate like elements orfeatures.

FIG. 10 is front elevation view of the sprayer vehicle 10 with avertical target height 176 between the nozzle (76, 176) and ground 150or with a vertical target height 176 with respect to a peak plantheight, a median plant height or an average plant height for the plantrow 148 based on a three dimensional representation of the plant fromcollected image data. A first lateral target separation distance 981represents a distance between a first nozzle 176 and the plant row,plant row center, plant center, plant stem, plant stalk, or plant trunk.A second lateral target separation distance 982 represents a distancebetween a second nozzle 176 and the plant row, plant row center, plantcenter, plant stem, plant stalk, or plant trunk on the same lowercarriage 66 as the first nozzle 176. As illustrated in FIG. 10, thefirst lateral target separation distance 981 is between a left plant row148 and the first nozzle 176 of a row unit, whereas the second lateraltarget separation distance 982 is between the second nozzle 176 and aright plant row 148 adjacent to the left plant row of the same row unit.

In one example, the first position adjuster 68 can adjust the nozzles(76, 176) to be located at a target height above the ground 150 or withrespect to a plant height of plant row 148. In another example, theupper carriage 18, or upper motor controller 17 in conjunction with theupper motor 16, can adjust the nozzles (76, 176) to be located atcertain lateral spacing or lateral distance (981, 982) between theplant, plant center, plant row center, plant stem, plant trunk, plantstalk, plant row, plant root zone, or other reference point associatedwith the plant. In one embodiment, the reference points(three-dimensional coordinates) associated with plant can be based on athree-dimensional representation of plant pixels or voxels, such as aconstellation or cloud of plant pixels defined in three dimensionalcoordinates that derived from stereo image data collected and processedby the image processing system.

FIG. 11 is a plan view of a sprayer vehicle 10 in an illustrative fieldof plant rows 802 following a path plan (975, 972) to treat or spray anarea of a field. The sprayer vehicle 10 follows a path plan thatcomprises generally parallel linear segments 975 within a field with afield boundary 971, where the linear segments 975 are interconnected byrow end turns 972 in headlands 973, a work area, or in other regionsadjoining the field. The direction of travel of the sprayer vehicle 10is indicated by the arrow 974.

The path plan of FIG. 11 is merely representative of one possible pathplan to cover the area of the field and other path plans can fall withinthe scope of this document and the accompanying claims.

Having described the preferred embodiment, it will become apparent thatvarious modifications can be made without departing from the scope ofthe invention as defined in the accompanying claims.

The following is claimed:
 1. A row unit for an agricultural vehicle, the row unit comprising: an upper carriage that is movable or slidable with respect to a generally horizontal beam of an agricultural vehicle; a plurality of vertical supports, each vertical support having an upper end connected to the upper carriage and a lower end opposite the upper end; a lower carriage that is connected to the lower end of the vertical supports, such that the upper carriage determines a lateral position of the lower carriage with respect to the beam.
 2. The row unit according to claim 1 wherein the upper carriage comprises: a frame; a set of rollers that are rotatable with respect to the frame and that ride against a surface of the beam; an upper motor mounted to the frame, the upper motor having a shaft that terminates in a pinion gear; and a rack gear on the beam, where the pinon gear engages to the rack gear to support simultaneous lateral adjustment of the upper carriage and the lower carriage.
 3. The row unit according to claim 2 wherein an upper motor controller provides a control signal to control the upper motor to position a nozzle on the lower carriage in accordance with a target lateral separation to a row of plants, the control signal responsive to image data.
 4. The row unit according to claim 1 wherein the lower carriage supports movement of a three-dimensional position of a nozzle on the lower carriage by a first position adjuster for adjusting height of the nozzle and a second position adjuster for adjusting a longitudinal position of the nozzle based on image data.
 5. The row unit according to claim 4 wherein the height is adjusted to maintain a minimum height clearance with respect to the ground and to maintain a relative height to a peak plant height, an average or median foliage height, or peak leaf canopy height based on image data.
 6. The row unit according to claim 4 wherein the nozzle is located on the second position adjuster and wherein the nozzle can be adjusted along a longitudinal axis.
 7. The row unit according to claim 4 wherein: an upper controller provides a lateral control signal to the upper motor to control a lateral position of a nozzle on the lower carriage; a first adjustment controller provides a height control signal to the first adjustment actuator to control a height position of the nozzle on the lower carriage; and a second adjustment controller provides a longitudinal control signal to the second adjustment actuator to control a longitudinal position of the nozzle on the lower carriage.
 8. The row unit according to claim 7 wherein the upper controller, the first adjustment controller and the second adjustment controller can simultaneously and dynamically adjust in real time a three-dimensional position of the nozzle through control of the lateral position, the height position and the longitudinal position.
 9. The row unit according to claim 4 wherein the second position adjuster further comprises: a frame that is coupled for relative longitudinal movement with respect to the first position adjuster; a first end at one side of the frame; a second end at an opposite side of the frame with respect to the first end; a rod or rail extending between the first end and the second end; a plurality of bushings affixed to the first position adjuster for engaging or slidably guiding the rod; a scissors mechanism having a first coupling point to the first position adjuster and a second coupling point to a link member; a second adjustment actuator or linear actuator for providing a linear motion to the link member such that the first adjuster is longitudinally displaced or adjusted with respect to the frame.
 10. The row unit according to claim 1 wherein the lower carriage supports movement of a three-dimensional position of a nozzle on the lower carriage by the second position adjuster for adjusting a longitudinal position of the nozzle to reduce or minimize a longitudinal offset between the nozzle and plant stem or central plant portion.
 11. The row unit according to claim 1 wherein the lower carriage comprises a first position adjuster for adjusting height of a nozzle associated with the row unit, the first position adjuster comprising: a lower platform; an upper platform spaced apart from the upper platform; a plurality of legs with pivot points for movably connecting the lower platform to the upper platform; a first support member associated with central pivot points of the legs; a second support member associated with central pivot points of the legs, the second support member located opposite from the first support member; a threaded rod engaging a threaded bore in the first support member and extending toward the second support member; a first adjustment actuator for turning the threaded rod to change the height of the lower platform with respect to the upper platform; hence, a height of a nozzle located on the lower platform, the first adjustment actuator on the second support member.
 12. The row unit according to claim 11 wherein one end of each of the legs terminates in gear teeth and further comprising idler gears mounted on sides of the upper platform and lower platform for engaging the gear teeth.
 13. The row unit according to claim 12 wherein the gear teeth and idler gears prevent twisting of the legs or misalignment between the lower platform and the upper platform in which planar surfaces associated with the lower platform and the upper platform are no longer or not substantially parallel.
 14. The row unit according to claim 11 wherein the first position adjuster comprises a first scissors linkage that holds a precise target vertical separation between the upper platform and the lower platform. 